JP2023032971A - Restiform body conveyance auxiliary apparatus and restiform body conveyance system - Google Patents

Abstract

To provide a restiform body conveyance auxiliary apparatus and a restiform body conveyance system, capable of mitigating a load applied at the time of conveyance of a restiform body, capable of handling the restiform body smoothly, and capable of preventing buckling at the time of conveyance of the restiform body.SOLUTION: A restiform body 11 has flexibility and includes a rear end that is fixed. A restiform body conveyance auxiliary apparatus 14 is attached between a tip and the rear end of the restiform body 11. The restiform body conveyance auxiliary apparatus 14 is configured to support the restiform body 11 at an attachment position to the restiform body 11 so that the restiform body is at a predetermined height from the ground surface and, when the tip of the restiform body 11 has moved, move on the ground surface according to a previously set standard on the basis of the restiform body 11's shape extending from the attachment position to the tip side and/or the rear end side of the restiform body 11.SELECTED DRAWING: Figure 1

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a strand carrying aid and a strand carrying system.

As a cord-like body such as a long hose, for example, there is a hose fixed at one side (rear end), such as a water discharge hose for fire extinguishing and a hose for laying asphalt on a road. These cord-like bodies are often filled with water, mud, etc. during operation, and it is hard work to manually transport them, placing a heavy physical burden on workers. In addition, workers are often forced to work in cramped spaces for long periods of time, and even in summer they must wear safety equipment such as long sleeves, gloves, protective glasses, and dust masks, which places a heavy mental burden on workers. .

Therefore, as a device for transporting such a cord-shaped body with a fixed rear end portion without relying on human labor, for example, a suction robot, a water discharge robot for fire extinguishing, a transport robot for asphalt laying hoses (for example, non-patent document 1 , 2) have been developed.

Hisanori Amano, "State-of-the-art firefighting robots are responsible for special fire sites that members cannot approach! The future of firefighting", [online], April 17, 2018, EMIRA, [searched March 2, 2021], Internet <https ://emira-t.jp/ace/5664/〉 Mizuki Idesako, "Road Structure Journal Net Hanshin Expressway Nishi-Osaka Line and Sakai Line Renewal Construction", [online], December 7, 2018, Steel Construction Publishing Co., Ltd., [Searched March 2, 2021] , Internet <https://www.kozobutsu-hozen-journal.net/walks/detail.php?id=216>

However, the transporting device as described in Non-Patent Documents 1 and 2 transports a cord-like body with a single robot attached to the tip, and for example, a long hose with a total length of 20 m or a There is a problem that it is difficult to carry a hose or the like filled with water or mud, and it is difficult to handle smoothly. In addition, when the cord-like body is a hose, the hose may buckle during transportation, and there is also the problem that water or the like cannot pass through the interior.

The present invention has been made by focusing on such problems, and is capable of reducing the burden imposed on the transport of the cord-like body, allowing the cord-like body to be smoothly handled, and It is an object of the present invention to provide an auxiliary device for carrying a rope and a system for carrying a rope that can prevent buckling.

In order to achieve the above object, a cord-like body transportation assisting device according to the present invention is provided so as to be attachable to a central portion of a flexible cord-like body to which a rear end portion is fixed. The cord-like body supports the cord-like body at a predetermined height from the ground surface, and extends from the mounting position toward the distal end side and/or the rear end side of the cord-like body when the distal end portion of the cord-like body moves. is configured to move on the ground surface according to preset criteria based on the shape of the

The cord-shaped body transportation assisting device according to the present invention is attached to the central portion of the cord-shaped body, and moves on the ground surface as the tip of the cord-shaped body moves in a state in which the cord-shaped body is supported at the mounting position. As compared with the case where the cord-like body is conveyed by moving only the tip portion, it is possible to reduce the burden on the cord-like body when conveying the cord-like body.

Further, the cord-shaped body carrying assistance device according to the present invention is based on the shape of the cord-shaped body extending from the mounting position to the distal end side and/or the rear end side of the cord-shaped body when the distal end portion of the cord-shaped body is moved. , which are configured to move on the ground according to preset criteria, and can autonomously transport the strands using the deformation of the strands. Therefore, by attaching a plurality of cords along the length direction, autonomous distributed control can be performed, and the cords can be transported cooperatively as a whole. This makes it possible to easily change the number of units to be used, the intervals at which the cord-like members are attached, and the like, without interfering with the transportation of the cord-like members. For this reason, it is possible to handle the transportation of various cord-like bodies, such as those having different lengths and weights, regardless of the type of the cord-like body.

In the apparatus for assisting in transporting a cord-shaped body according to the present invention, since the cord-shaped body is supported at a predetermined height from the ground surface at the mounting position, the cord-shaped body can be lifted without touching the ground surface according to a preset reference. By constructing it so as to be transported, it is possible to further reduce the burden on the cord-like body when transporting it, and to smoothly handle the cord-like body. In addition, when the cord-shaped body is a hose, the cord-shaped body transportation assisting device according to the present invention is configured so that the cord-shaped body is moved without bending according to a preset reference, so that when the cord-shaped body is transported buckling can be prevented. As a result, water or the like can be prevented from flowing through the interior of the cord-like body even during transportation, and the cord-like body can be used while being transported.

In the cord-shaped body carrying assistance device according to the present invention, when the tip portion moves toward the tip side, the cord-like body extending from the attachment position to the tip side bends in the vertical direction, and the tip from the attachment position bends in the vertical direction. It is configured to move based on the angle in the horizontal plane of the cord-like body extending laterally and rearwardly, and extends distally from the mounting position when the distal end moves toward the rearward end. It is preferable that the movement is made based on the bending in the vertical direction of the cord-like body and the angle in the horizontal plane of the cord-like body extending from the mounting position to the rear end side.

In this case, for example, in the cord-shaped body transportation assisting device according to the present invention, when the tip portion moves toward the tip side, the bending of the cord-like body extending toward the tip side from the mounting position in the vertical direction is constant. It may be configured to be movable so that the first angle is reached and the angles in the horizontal plane of the cord-like body extending from the mounting position to the front end side and the rear end side are equal. As a result, it is possible to move toward the distal end side together with the distal end portion while maintaining a distance from the distal end portion and other cord-like body transportation assisting device on the distal end side. It is also possible to prevent bending of the cord-like body in the horizontal direction.

Further, in the cord-shaped body carrying assistance device according to the present invention, when the tip portion moves toward the rear end side, the cord-like body extending from the attachment position toward the tip side has a constant vertical deflection. may be configured to be movable so as to be an angle of Thereby, it is possible to move toward the rear end side together with the tip portion while maintaining a distance from the tip portion and other cord-like body transportation assist device on the tip side.

Further, according to the present invention, there is provided one apparatus for assisting in transporting a cord-like body, and when the front end portion moves toward the rear end side, the cord-like body extending from the mounting position toward the rear end side is moved in a horizontal plane. may be configured to be movable to a constant third angle plus a predetermined offset angle. As a result, it is possible to move the tip portion to a position shifted in the lateral direction with respect to the moving direction of the tip portion, and it is possible to increase the moving distance of the tip portion while maintaining the distance between the tip portion and the rear end portion. It is also possible to prevent buckling of the cord-like body.

In addition, the cord-like body transportation assisting device according to the present invention comprises a plurality of cord-like body carrying aids, which are provided so as to be attachable at intervals along the length direction of the cord-like body, and the front end portion extends toward the rear end side. When moved, the angle in the horizontal plane of the cord-like body extending from the mounting position to the rear end side is a predetermined constant third angle for the odd-numbered cord-like members from the front end toward the rear end. , and the even-numbered ones from the front end toward the rear end are arranged in the horizontal plane of the cord-like body extending from the mounting position to the rear end side. may be configured to be movable to an angle obtained by subtracting the predetermined offset angle from the third angle. As a result, the odd-numbered objects and the even-numbered objects from the front end portion to the rear end portion can be moved to alternately shifted positions to the left and right with respect to the moving direction of the front end portion. It is possible to increase the moving distance of the tip portion while maintaining the distance from the end portion and the front and rear cord-like body transportation auxiliary devices. It is also possible to prevent buckling of the cord-like body.

A cord-shaped body transportation assisting device according to the present invention comprises front shape measuring means provided to measure the shape of the cord-shaped body extending from the mounting position to the front end side, and the rope extending from the mounting position to the rear end side. and a posterior shape measuring means provided to be able to measure the shape of the cord-like body, and is configured to move based on the shape of the cord-like body measured by the anterior shape measuring means and the posterior shape measuring means. may In this case, from the shape of the cord-like body measured by the front shape measuring means and the rear shape measuring means, for example, vertical bending of the cord-like body extending from the mounting position to the front end side and/or the rear end side, or in the horizontal plane can be easily obtained.

A ligament carrying system according to the present invention comprises a flexible ligament having a fixed rear end, and a flexible ligament according to the invention attached between the distal end and the posterior end of said ligament. and a cord-like body transportation assistance device.

Since the cord-shaped body transportation system according to the present invention has the cord-shaped body transportation assisting device according to the present invention, it takes less time to transport the cord-shaped body than when the cord-shaped body is transported by moving only the tip portion. The burden can be reduced. In addition, in the cord-shaped body transportation system according to the present invention, the cord-shaped body transportation auxiliary device can autonomously transport the cord-shaped body by utilizing the deformation of the cord-shaped body. Therefore, by attaching a plurality of assisting devices for transporting the cord-like body along the length of the cord-like body, autonomous decentralized control can be performed, and the cord-like body can be transported cooperatively as a whole. can. Further, when the cord-shaped body is a hose, the cord-shaped body conveying system according to the present invention can be configured so that the cord-shaped body is moved without bending by the cord-shaped body transportation auxiliary device. Time buckling can be prevented.

The cable carrying system according to the present invention supports the rear end of the cable at a predetermined support height from the ground surface, and a fixed support section that fixes the rear end so as to be rotatable in the horizontal direction. It is preferred to have In this case, the fixed support portion can smoothly handle the cord-like body on the rear end side. In addition, when the cord-like body is a hose, it is possible to more effectively prevent buckling of the cord-like body during transportation on the rear end side.

A cord-shaped body transport system according to the present invention includes: a tip moving body attached to the tip of the cord-like body so as to be movable on the ground surface; It is preferable to have a control means provided so as to be able to control the moving direction of the. In this case, the tip moving body allows the cord-like body to be transported without manual intervention, thereby significantly reducing the burden on the cord-like body during transport. For example, a commercially available suction robot can be used as the tip moving body.

EFFECTS OF THE INVENTION According to the present invention, it is possible to reduce the burden on the cord-shaped body during transportation, smoothly handle the cord-shaped body, and prevent buckling during transportation of the cord-shaped body. Auxiliary equipment and a strand carrying system can be provided.

1 is a perspective view showing a cord-like body carrying system according to an embodiment of the present invention; FIG. 1 is a side view showing a cord-like body carrying assistance device according to an embodiment of the present invention; FIG. FIG. 5 is a side view for explaining a method of controlling (a) straight-ahead speed and (b) turning angle when the cord-shaped body transportation assisting device according to the embodiment of the present invention moves toward the distal end side. 1 is a perspective view showing a model used for simulation of a cord-like body carrying system according to an embodiment of the present invention; FIG. FIG. 5 is a cross-sectional view showing a model of a hose used in the simulation shown in FIG. 4; The parameter Δω that controls the turning speed ω of the cord-like body transportation auxiliary device and the tip movement of each hose (hose1, hose2, hose3, hose4) until it reaches the ground surface obtained by the simulation model shown in FIG. It is a graph which shows the relationship with the retreat distance of a body. The support height of the cord-like body at the fixed support and the retraction distance of the tip moving body until each hose (hose1, hose2, hose3, hose4) reaches the ground surface obtained by the simulation model shown in Fig. 4 is a graph showing the relationship between The method of supporting the cord-like body of the fixed support (fixed joint, passive joint, active joint) and each hose (hose1, hose2, hose3, hose4) obtained by the simulation model shown in Fig. 4 reaches the ground surface It is a graph which shows the relationship with the retreat distance of the tip moving body to. FIG. 5 is a plan view showing the experimental conditions of a cord-like body transport experiment based on the simulation model shown in FIG. 4 ; FIG. 10 is a plan view showing how the cord-like body is moved (transported) at each elapsed time in the simulated transport experiment of the cord shown in FIG. 9 ;

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below based on the drawings.
1 to 10 show a cord-like body carrying aid device and a cord-like body carrying system according to an embodiment of the present invention.
As shown in FIG. 1, a cord-like body carrying system 10 has a cord-like body 11, a fixed support portion 12, a tip moving body 13, control means (not shown), and a plurality of cord-like body carrying assistance devices . are doing.

The strand 11 consists of a flexible hose. The cord-like body 11 is not limited to a hose, and may be made of any flexible and long material such as a cable. The fixed support part 12 consists of a four-wheel-drive carriage capable of moving on the ground surface, and supports the rear end of the cord-like body 11 at a predetermined support height from the ground surface so as to extend in the horizontal direction. The rear end of body 11 is horizontally rotatably fixed. The fixed support part 12 can be fixed to the ground surface so as not to move when the cord-like body 11 is used. Note that the fixed support part 12 may not be movable and may be fixed to the ground surface.

The tip moving body 13 is a four-wheel-drive carriage that can move on the ground surface, and is attached to the tip of the cord-like body 11 . The tip moving body 13 supports the tip portion of the cord-like body 11 so as to extend horizontally at a predetermined height from the ground surface in a state where the tip of the cord-like body 11 is directed horizontally forward and fixed. there is The control means is wirelessly or wiredly connected to the tip moving body 13 and is provided so as to be able to control the moving direction and moving speed of the tip moving body 13 .

Each cord-shaped body transportation assistance device 14 consists of a four-wheel-drive truck capable of moving on the ground surface, and is attached between the front end and the rear end of the cord-shaped body 11 at a constant interval. In each cord-shaped body carrying auxiliary device 14, the cord-shaped body 11 extending toward the front end is fixed at the front portion, and the cord-shaped body 11 extending toward the rear end is fixed at the rear portion. Each cord-like body carrying auxiliary device 14 fixes the cord-like body 11 rotatably in the horizontal direction at each attachment position of the front part and the rear part where the cord-like body 11 is fixed. In addition, each cord-shaped body carrying auxiliary device 14 supports the cord-shaped body 11 at each mounting position so as to extend horizontally at a predetermined height from the ground surface. In addition, in the specific example shown in FIG. 1, there are three cord-shaped body transportation assistance devices 14 .

As shown in FIG. 2, each cord-shaped body carrying auxiliary device 14 includes a front shape measuring means 14a provided to measure the shape of the cord-shaped body 11 extending from the mounting position at the front to the distal end side, and an attachment device 14a at the rear. A rear shape measuring means 14b is provided so as to be able to measure the shape of the cord-like body 11 extending from the position to the rear end side. The front shape measuring means 14a and the rear shape measuring means 14b are made of LiDAR (Light Detection and Ranging), and by measuring the position of the cord-like body 11, the shape of the cord-like body 11 can be measured from the measurement result. ing. Further, the front shape measuring means 14a and the rear shape measuring means 14b can detect not only the shape of the cord-like body 11 but also obstacles such as walls present on the sides. Note that the front shape measuring means 14a and the rear shape measuring means 14b are not limited to LiDAR, and may be made of any device that can measure the shape of the cord-like body 11 .

Each cord-shaped body carrying assistance device 14 is set in advance based on the shape of the cord-shaped body 11 measured by the front shape measuring means 14a and the rear shape measuring means 14b when the tip of the cord-shaped body 11 moves. It is configured to move across the ground according to a standard. Specifically, each cord-shaped body transportation assistance device 14 measures the length of the cord-shaped body measured by the front shape measuring means 14a as shown in FIG. Using the bending angle θ _l in the vertical direction of 11, the linear speed v _linear is determined by the equation (1).

v _linear = k _linear ( _θl - _θlref ) (1)

Here, k _linear is a proportional gain (constant), and θ _lref is a threshold value (target value) of the deflection angle of the cord-like body 11 . Each cord-like body transportation assisting device 14 controls the bending angle _θl of the cord-like body 11 in the vertical direction to keep it at a constant angle _θlref according to the equation (1), and the tip moving body 13 on the tip side and the It is configured to move toward the distal end side together with the distal moving body 13 while maintaining a distance from the other cord-shaped body transportation auxiliary device 14 .

In addition, each cord-shaped body transportation assistance device 14 measures the horizontal plane of the cord-shaped body 11 measured by the front shape measuring means 14a as shown in FIG. Using the angle θ _afront in the horizontal plane and the angle θ _aback in the horizontal plane of the cord-like body 11 measured by the rear shape measuring means 14b, the turning speed ω is determined by equation (2).

ω=k _angle ( _θafront − _θaback ) (2)

where k _angle is the proportional gain (constant) of the angular velocity. Each cord-shaped body carrying auxiliary device 14 is configured to move so that θ _afront and θ _aback are equal according to the equation (2).

Further, each cord-shaped body carrying auxiliary device 14 determines the linear velocity v _linear by the formula (1) when the tip moving body 13 moves toward the rear end side. As a result, each cord-shaped body carrying assistance device 14 moves toward the rear end side together with the tip moving body 13 while maintaining a distance from the tip moving body 13 on the tip side and the other cord-shaped body carrying assistance device 14 . configured to move. The value of k _linear may be the same value as when the tip moving body 13 moves toward the tip side, or may be a different value.

In addition, each cord-shaped body transportation assistance device 14 uses the angle θ _aback in the horizontal plane of the cord-shaped body 11 measured by the rear shape measuring means 14b when the tip moving body 13 moves toward the rear end side. , (3) to determine the turning speed ω.

ω=k _angle (θ _{a back} −θ _a )±Δω
= k _angle (θ _back - θ _a ±Δω/k _angle ) (3)

Here, _θa is the horizontal angle threshold value (target value) of the cord-like body 11 extending toward the rear end, and Δω is the angular velocity offset. The value of k _angle may be the same value as when the tip moving body 13 moves toward the tip side, or may be a different value. As for the sign ± of Δω, for example, the odd-numbered cord-like body carrying auxiliary device 14 is negative from the front end to the rear end, and the even-numbered cord-like body carrying device 14 is negative from the front end to the rear end. The auxiliary device 14 is set to be positive.

According to the formula (3), θ _aback of the odd-numbered cord-shaped body carrying auxiliary device 14 from the front end to the rear end becomes an angle obtained by adding an offset angle (Δω/k _angle ) to θ _a , The even-numbered cord carrying aids 14 from the leading end to the trailing end are configured to move such that θ _aback is θ _a minus the offset angle (Δω/k _angle ). ing. Note that the sign of Δω may be reversed in terms of plus and minus. As a result, each of the cord-shaped body transportation assistance devices 14 moves from the front end to the rear end while maintaining a distance from the leading end moving body 13, the fixed support portion 12, and the other cord-shaped body transportation assistance devices 14 in the front and rear. The odd-numbered ones and the even-numbered ones are configured to move to alternately shifted positions to the left and right with respect to the movement direction of the tip portion.

Next, the action will be described.
In the cord-shaped body transportation system 10, each cord-shaped body transportation auxiliary device 14 is attached to the central part of the cord-shaped body 11, and in a state where the cord-shaped body 11 is supported at the attachment position, the tip of the cord-shaped body 11 Since it is configured to move on the ground surface along with the movement of the part, compared to the case where only the tip part is moved by the tip moving body 13 or the like to transport the cord-like body 11, when the cord-like body 11 is transported This burden can be reduced.

Further, in the cord-shaped body transport system 10, when the distal end portion of the cord-shaped body 11 is moved by the distal end moving body 13, each of the cord-shaped body transport auxiliary devices 14 moves from the attachment position to the distal end side of the cord-shaped body 11 and/or Based on the shape of the cord-like body 11 extending to the rear end side, it is configured to move on the ground surface according to a preset reference, and the cord-like body 11 is autonomously moved using the deformation of the cord-like body 11. can be transported. Therefore, each of the cord-shaped body transportation assistance devices 14 can perform autonomous decentralized control, and the cord-shaped body 11 can be transported in cooperation as a whole. This makes it possible to easily change the number of the cord-shaped body transportation assisting devices 14 to be used, the intervals at which they are attached to the cord-shaped body 11, and the like, without interfering with the transportation of the cord-shaped body 11. FIG. Therefore, it is possible to carry various types of cord-like bodies 11, such as those having different lengths and weights, regardless of the type of cord-like body 11.

The strand transport system 10 transports the strand 11 by configuring each strand transport auxiliary device 14 to transport the strand 11 without touching the ground surface according to preset criteria. In addition to further reducing the load that is sometimes applied, the cord-like body 11 can be smoothly routed. In addition, the cord-shaped body conveying system 10 is configured by configuring each cord-shaped body transportation auxiliary device 14 so that the cord-shaped body 11 can be moved without bending according to a preset standard. buckling during transportation can be prevented. As a result, water or the like can be prevented from flowing through the cord-like body 11 made of the hose even during transportation, and the cord-like body 11 can be used while being transported.

When the rear end of the cord-like body 11 is fixed as in the cord-like body carrying system 10 , the forward and backward movement of the cord-like body 11 is conventionally restricted by the cord-like body 11 . In particular, when retreating, the cord-like body 11 contacts the ground surface and tends to buckle, so the range of movement is considerably narrowed. On the other hand, the cord-shaped body transporting system 10 maintains the distance between the leading end moving body 13, the cord-shaped body-transporting auxiliary devices 14, and the fixed support portion 12 when retreating. However, since it moves to a position shifted alternately to the left and right with respect to the moving direction of the tip portion, the moving distance of the tip portion can be lengthened while preventing buckling of the cord-like body 11 .

In the cord-shaped body transport system 10, since the fixed support portion 12 fixes the rear end portion of the cord-shaped body 11 so as to be rotatable in the vertical and horizontal directions, the cord-shaped body 11 can be smoothly handled on the rear end side. can be Further, when the cord-like body 11 is a hose, it is possible to more effectively prevent buckling of the cord-like body 11 during transportation on the rear end side. The cord-shaped body transport system 10 can transport the cord-shaped body 11 by the distal end moving body 13 without human intervention, and can greatly reduce the burden on the cord-shaped body 11 when transporting it. The cord-like body transport system 10 may use, for example, a commercially available suction robot, an existing fire extinguishing water discharge robot, a hose transport robot for laying asphalt, or the like as the tip moving body 13 .

In addition, the cord-shaped body carrying system 10 may consist of one cord-shaped body carrying auxiliary device 14 . In this case, only the odd-numbered (first) cord-like body carrying aids 14 are arranged from the front end to the rear end. Therefore, according to the formula (3), when the tip moving body 13 moves toward the rear end side, the cord-like body carrying auxiliary device 14 is shifted in the lateral direction with respect to the movement direction of the tip moving body 13. It is possible to move, and it is possible to lengthen the moving distance of the tip moving body 13 while maintaining the distance between the tip moving body 13 and the fixed support portion 12 . Buckling of the cord-like body 11 can also be prevented.

[simulation]
In the following, using a simulator, the parameter (Δω) and the fixed support portion 12 when the distal end moving body 13 moves toward the rear end side will be examined for the cord-shaped body carrying system 10 shown in FIG. A transport experiment of the cord-like body 11 was performed. In constructing the simulator, "Ubuntu: 18.04" was used as the OS, "ROS (Robot Operating System): Melodic" as the program development middleware, and "Gazebo 9.11" as the physics simulator.

In the simulation, a commercially available 4-wheel drive robot "Husky (manufactured by Clearpath Robotics Inc.)" with high running performance and dustproof/waterproof function was used as the tip moving body 13, each cord-shaped body transportation auxiliary device 14, and the fixed support part 12. ” was assumed. In addition, two-dimensional LiDAR ("UTM-30LX" manufactured by Hokuyo Denki Co., Ltd.) was assumed as the front shape measurement means 14a and the rear shape measurement means 14b. FIG. 2 shows specific mounting positions of the front shape measuring means 14a and the rear shape measuring means 14b.

Further, the cord-like body 11 is composed of four hoses, and as shown in FIG. I made it. Specific mounting positions of each hose are shown in FIG. Moreover, each hose was set to hose1, hose2, hose3, and hose4 from the front end side to the rear end side. Each hose had a length of 3 m, an outer diameter of 100 mm, and a total length of the cord 11 of 12 m. As shown in FIG. 5, a model in which a plurality of cylinders 21 are connected was used for each hose. Each cylinder 21 is connected by a joint 22 having rotational degrees of freedom in roll, pitch and yaw directions, and each joint 22 is fitted with a spring 23 and a damper 24 . In the simulation, the spring constant k of the spring 23 = 6.62 [Nm/rad], the viscous resistance of the damper 24 c = 1 [Nms/rad], the diameter of each cylinder 21 d = 0.1 [m], the length of each cylinder 21 l = 0.2 [m], the mass m of each cylinder 21 = 0.226 [kg], and the number of cylinders 21 N = 14 [pieces]. In the simulation, it is assumed that empty objects are transported.

In the simulation, as an initial state, the tip moving body 13, each of the cord-shaped body transportation assisting devices 14, and the fixed support section 12 were arranged straight at intervals of 3 m, and from the state in which the fixed support section 12 was fixed, the tip moving body 13 was moved by operating the joypad, and each subsequent cord-like body carrying auxiliary device 14 was also moved.

[Study of parameter (Δω)]
By simulation, Δω in the equation (3) for controlling the turning speed ω of each cord-like body transportation assisting device 14 when the tip moving body 13 moves toward the rear end side was examined. In the simulation, the tip moving body 13 was retracted straight from the initial state, and the distance that the tip moving body 13 was retracted until each hose first reached the ground surface was examined.

The simulation was performed four times for each case where Δω was set to 0, 0.3, 0.4, and 0.5 [rad/s]. The support height of the cord-like body 11 at the fixed support portion 12 is set to the height (predetermined height) of the cord-like body 11 at each cord-like body transportation auxiliary device 14 + 0.4 m, and the formula (3) is obtained. A proportional gain k _angle of 10 was used. Also, the proportional gain k _linear in the formula (1) during reverse is set to 30, and θ _lref is set to approximately 65 to 66 degrees. Further, the fixed support portion 12 fixes the rear end portion of the cord-like body 11 so as not to rotate in the horizontal direction. In addition, it is confirmed in advance that the cord-like body 11 to be transported does not undergo a large bend such as bending within the range of the turning speed ω of the simulation.

The simulation results are shown in FIG. As shown in FIG. 6, it was confirmed that the retraction distance of the tip moving body 13 until one of the hoses reaches the ground surface is maximized when Δω is 0.4 rad/s. The retreat distance of the tip moving body 13 until each hose reaches the ground surface is maximum when Δω is 0.4 rad/s for hose1 and hose3, and maximum when Δω is 0 rad/s for hose2. , and it is confirmed that hose4 becomes maximum when Δω is 0.5 rad/s. It was confirmed that the retraction distance of the tip moving body 13 until all the hoses reach the ground surface is about 5 m at maximum when Δω is 0.4 rad/s.

[Consideration of the support height of the fixed support part]
The support height of the cord-like body 11 at the fixed support portion 12 was examined by simulation. In the simulation, the support height of the cord-like body 11 at the fixed support portion 12 was the same as that of the simulation of Example 1 (that is, the height of the cord-like body 11 at each cord-like body carrying auxiliary device 14 (predetermined height) +0.4 m), the tip moving body 13 is retracted straight from the initial state, and the distance that the tip moving body 13 moves back until each hose reaches the ground surface for the first time is investigated. rice field. The simulation was performed three times for each support height. Δω in the formula (3) was set to 0 rad/s, and other parameters and conditions were the same as in the first embodiment.

The simulation results are shown in FIG. As shown in FIG. 7, it was confirmed that by increasing the support height of the cord-like body 11 at the fixed support portion 12, the retraction distance of the tip moving body 13 until it reaches the ground surface becomes longer in any hose. was done. From this result, it can be said that the support height of the cord-like body 11 at the fixed support portion 12 should be as high as possible.

[Study of Supporting Method for Cord-shaped Body of Fixed Supporting Part]
A method of supporting the cord-like body 11 of the fixed support portion 12 was examined by simulation. In the simulation, when the fixed support part 12 fixed the rear end of the cord-like body 11 so as not to rotate in the horizontal direction (hereinafter referred to as “fixed joint”), the cord-like body When the rear end of the cord 11 is passively rotated in the horizontal direction (hereinafter referred to as a “passive joint”), the rear end of the cord 11 is actively rotated horizontally in accordance with the movement of the cord 11. For each of the three cases of rotation (hereinafter referred to as "active joint"), the tip moving body 13 is straightly retracted from the initial state, and the distance that the tip moving body 13 has retracted until each hose first reaches the ground surface. examined.

In the passive joint, the rear end of the cord-like body 11 is fixed so as to rotate within a range of -90 degrees to +90 degrees in the horizontal plane with respect to the extending direction of the cord-like body 11 in the initial state. In the active joint, the horizontal turning speed ω of the rear end portion of the cord-like body 11 is controlled by the equation (4) according to the movement of the cord-like body 11 (hose4).

ω = k _angle × θ _afront (4)

The simulation was performed five times for each joint. The support height of the cord-shaped body 11 at the fixed support portion 12 is set to the height (predetermined height) of the cord-shaped body 11 at each of the cord-shaped body transportation auxiliary devices 14 + 0.4 m, and in the formula (3) was set to 0.4 rad/s. Other parameters and conditions were the same as in Example 1, and the value of k _angle in formula (4) was the same as the value of k _angle in formula (3).

The simulation results are shown in FIG. As shown in FIG. 8, the retraction distance of the tip moving body 13 until it reaches the ground surface is longer in hose1 and hose3 by using passive joints than in the case of fixed joints, and by using active joints, , was confirmed to be longer in hose1 to hose3. From this result, it can be said that it is better to make the rear end portion of the cord-like body 11 rotatable in the horizontal direction in the fixed support portion 12 .

[Conveyance experiment of ligaments]
A transport experiment of the cord-like body 11 was performed by simulation. As shown in FIG. 9, in the simulation, an experiment was conducted to see if the tip moving body 13 could be moved from the initial state to four target points. The four target points are provided at intervals of 1 m at positions shifted by 4 m laterally and 3 m to 6 m to the rear end side from the front end moving body 13 in the initial state, and target points 1, 1, and 1 are provided from the front end side to the rear end side. 2, 3, 4. In the simulation, the support height of the cord-like body 11 at the fixed support portion 12 was set to the height (predetermined height) of the cord-like body 11 at each cord-like body carrying auxiliary device 14 + 0.4 m, Δω in the formula (3) was set to 0.4 rad/s. Further, the fixed support portion 12 fixes the rear end portion of the cord-like body 11 by a passive joint. Also, the proportional gain k _linear in the formula (1) during forward movement is set to 10, the proportional gain k _angle in the formula (2) is set to 20, and other parameters and conditions are the same as in the first embodiment.

First, from the initial state shown in FIG. 9, an experiment was conducted in which the robot was moved directly to each target point. In the experiment, the tip moving body 13 was moved straight back until it came directly to the side of the target point to be moved, and then changed direction and moved toward the target point. The experiment was performed five times for each target point. As evaluation criteria for the experiment, it was determined that failure occurred when the cord-like body 11 buckled during movement, or when the intervals between the cord-like body carrying assistance devices 14 became too narrow. It was judged to be successful when it moved to the target point.

As a result of the experiment, the success rate was 80% at target point 1 (successful 4 times out of 5), 60% at target point 2 (successful 3 times out of 5), and 40% at target point 3 (2 times out of 5). success) and 20% at target point 4 (1 out of 5 successes). As a failure case, it was confirmed that the hose on the rearmost side buckled when moving to the target points 1 and 2. In addition, cases were confirmed in which the intervals between the cord-shaped body transportation assistance devices 14 became too narrow during movement to all target points.

Next, from the initial state shown in FIG. 9, the tip moving body 13 is retreated straight until it comes to the side of the target point 1, and after it is changed in direction and moved to the target point 1, it is further moved to the target points 2 and 3. , 4 in order. The experiment was conducted five times for each successful movement to the target point 1, and the success or failure of the movement to the target points 2 to 4 was determined based on the above evaluation criteria.

FIG. 10 shows an example of a state during movement (transportation). Note that the time display (minutes:seconds) in FIG. 10 is the elapsed time from the start of the simulation. As shown in FIG. 10, it was confirmed that when the tip moving body 13 retreated, each of the cord-shaped body transportation auxiliary devices 14 shifted left and right alternately (circled numbers 1 to 3 in FIG. 10). reference). It was also confirmed that when moving to the target point 1 or when moving from the target point 1 to 2, the switching from backward to forward and vice versa was performed smoothly (circled in FIG. 10). See numbers 4-6).

As a result of the experiment, the success rate was 100% at target point 2 (successful 5 times out of 5), 100% at target point 3 (successful 5 times out of 5), and 80% at target point 4 (successful 5 times out of 5). 4 successes). Comparing the results of these transportation experiments, it can be seen that the success rate is higher when moving continuously from a distant target point to a closer target point in order when moving to the near target point. . In addition, from this, it can be said that it is better to shorten the straight retreat distance and move the cord-like body 11 in a state in which it is stretched as much as possible.

REFERENCE SIGNS LIST 10 cord-shaped body transport system 11 cord-shaped body 12 fixed support part 13 tip moving body 14 cord-shaped body transportation auxiliary device 14a front shape measuring means 14b rear shape measuring means

21 cylinder 22 joint 23 spring 24 damper

Claims (10)

It is attachable to the central portion of the flexible cord-like body to which the rear end portion is fixed, and at the mounting position, the cord-like body is supported at a predetermined height from the ground surface, and the cord-like body When the distal end portion is moved, it is configured to move on the ground surface according to a preset reference based on the shape of the cord-like body extending from the mounting position to the distal end side and/or the rear end side of the cord-like body. A cord-like body carrying aid, characterized in that When the tip portion moves toward the tip side, the cord-like body extending from the attachment position to the tip side bends in the vertical direction, and the cord-like body extends from the attachment position to the tip side and the rear end side. vertical deflection of the cord-like body extending distally from the mounting position when the distal end moves toward the rear end, and is configured to move based on an angle in a horizontal plane; 2. A device for assisting in transporting a cord-like body according to claim 1, wherein said cord-like body extending from said mounting position to the rear end side is moved based on an angle in a horizontal plane. When the distal end portion moves toward the distal end side, the vertical bending of the cord-like body extending from the mounting position to the distal end side becomes a constant first angle, and the distal end side and the rear end from the mounting position. 3. A device for assisting carrying of a cord-like body according to claim 2, wherein said cord-like body extending laterally is movable so that the angles in a horizontal plane are equal. wherein, when the distal end portion moves toward the rear end side, the cord-like body extending from the mounting position toward the distal end side is flexed in a vertical direction to a constant second angle. 4. An assisting device for carrying a cord-like body according to claim 2 or 3. and a predetermined offset angle to a third angle in which the angle in the horizontal plane of the cord-like body extending from the mounting position to the rear end side is constant when the tip portion moves toward the rear end side. 5. The assisting device for carrying a cord-like body according to any one of claims 2 to 4, characterized in that it is constructed so as to be movable so as to form an angle obtained by adding . It consists of a plurality, and is provided so as to be attachable at intervals along the length direction of the cord-like body, and when the tip portion moves toward the rear end side, it extends from the tip portion toward the rear end portion. The odd-numbered ones are movable so that the angle in the horizontal plane of the cord-like body extending from the mounting position to the rear end side is an angle obtained by adding a predetermined offset angle to a constant third angle. and even-numbered ones from the front end toward the rear end have an angle in the horizontal plane of the cord-like body extending from the mounting position toward the rear end side and offset from the third angle by the predetermined angle. 5. A cord-like body carrying assistance device according to any one of claims 2 to 4, characterized in that it is constructed so as to be movable so as to form an angle minus an angle. A front shape measuring means provided to measure the shape of the cord-like body extending from the mounting position to the front end side, and a rear shape measuring means provided to be able to measure the shape of the cord-like body extending to the rear end side from the mounting position and shape measuring means, and is configured to move based on the shape of said cord-like body measured by said front shape measuring means and said rear shape measuring means. A cord-like body carrying aid device according to any one of claims 1 to 3. a flexible cord having a fixed rear end;
a cord-like body carrying assistance device according to any one of claims 1 to 7, which is attached between the front end portion of the cord-like body and the rear end portion of the cord-like body;
a strand delivery system, comprising: 9. The apparatus according to claim 8, further comprising a fixed support for supporting said rear end of said cord-like body at a predetermined support height from the ground surface and fixing said rear end so as to be rotatable in the horizontal direction. cord-carrying system. a tip moving body attached to the tip of the cord-like body so as to be movable on the ground surface;
a control means connected wirelessly or by wire to the tip moving body and provided so as to be able to control the moving direction of the tip moving body;
10. A strand carrying system according to claim 8 or 9, characterized in that it comprises:

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